EP3831679A4 - Procédé de correction de trajectoire de déplacement, procédé de commande de déplacement et dispositif de correction de trajectoire de déplacement - Google Patents

Procédé de correction de trajectoire de déplacement, procédé de commande de déplacement et dispositif de correction de trajectoire de déplacement Download PDF

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Publication number
EP3831679A4
EP3831679A4 EP18928603.2A EP18928603A EP3831679A4 EP 3831679 A4 EP3831679 A4 EP 3831679A4 EP 18928603 A EP18928603 A EP 18928603A EP 3831679 A4 EP3831679 A4 EP 3831679A4
Authority
EP
European Patent Office
Prior art keywords
traveling
trajectory correction
traveling trajectory
control method
correction device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18928603.2A
Other languages
German (de)
English (en)
Other versions
EP3831679B1 (fr
EP3831679A1 (fr
Inventor
Tomoko Kurotobi
Satoshi Tange
Masafumi Tsuji
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Nissan Motor Co Ltd
Original Assignee
Renault SAS
Nissan Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Renault SAS, Nissan Motor Co Ltd filed Critical Renault SAS
Publication of EP3831679A1 publication Critical patent/EP3831679A1/fr
Publication of EP3831679A4 publication Critical patent/EP3831679A4/fr
Application granted granted Critical
Publication of EP3831679B1 publication Critical patent/EP3831679B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18159—Traversing an intersection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/20—Lateral distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
EP18928603.2A 2018-08-03 2018-08-03 Procédé de correction de trajectoire de déplacement, procédé de commande de déplacement et dispositif de correction de trajectoire de déplacement Active EP3831679B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2018/000988 WO2020025991A1 (fr) 2018-08-03 2018-08-03 Procédé de correction de trajectoire de déplacement, procédé de commande de déplacement et dispositif de correction de trajectoire de déplacement

Publications (3)

Publication Number Publication Date
EP3831679A1 EP3831679A1 (fr) 2021-06-09
EP3831679A4 true EP3831679A4 (fr) 2021-09-01
EP3831679B1 EP3831679B1 (fr) 2023-10-04

Family

ID=69231470

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18928603.2A Active EP3831679B1 (fr) 2018-08-03 2018-08-03 Procédé de correction de trajectoire de déplacement, procédé de commande de déplacement et dispositif de correction de trajectoire de déplacement

Country Status (6)

Country Link
US (1) US11526173B2 (fr)
EP (1) EP3831679B1 (fr)
JP (1) JP7422661B2 (fr)
CN (1) CN112533810B (fr)
RU (1) RU2770714C1 (fr)
WO (1) WO2020025991A1 (fr)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111537990B (zh) * 2020-04-27 2022-02-22 西安象德信息技术有限公司 一种车道的标定方法、装置以及电子设备
KR20210144411A (ko) * 2020-05-22 2021-11-30 현대자동차주식회사 차량의 주행 차로 인식 장치 및 방법
KR20220032912A (ko) * 2020-09-08 2022-03-15 현대모비스 주식회사 차량의 주행 제어 장치 및 방법
CN112258842A (zh) * 2020-10-26 2021-01-22 北京百度网讯科技有限公司 交通监测方法、装置、设备及存储介质
JP7203884B2 (ja) * 2021-03-31 2023-01-13 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
KR20230001869A (ko) * 2021-06-29 2023-01-05 현대자동차주식회사 차량 제어 장치, 그를 포함한 시스템 및 그 방법
CN114265411B (zh) * 2021-12-28 2023-10-03 上汽大众汽车有限公司 一种解决车辆预测模型性能受限于感知数据性能的方法
CN114387786B (zh) * 2022-01-26 2023-03-21 青岛海信网络科技股份有限公司 一种路口车辆运行状态预测方法及装置
CN114663804A (zh) * 2022-03-02 2022-06-24 小米汽车科技有限公司 可行驶区域检测方法、装置、移动设备及存储介质
CN114926802B (zh) * 2022-06-24 2024-06-28 重庆长安汽车股份有限公司 基于双层lstm网络的车辆轨迹预测方法
CN115953328B (zh) * 2023-03-13 2023-05-30 天津所托瑞安汽车科技有限公司 一种目标矫正方法、系统及电子设备

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150353085A1 (en) * 2014-06-05 2015-12-10 GM Global Technology Operations LLC Lane change path planning algorithm for autonomous driving vehicle
WO2016051460A1 (fr) * 2014-09-29 2016-04-07 日産自動車株式会社 Dispositif et procédé de commande de déplacement
WO2018066133A1 (fr) * 2016-10-07 2018-04-12 日産自動車株式会社 Procédé d'évaluation de véhicule, procédé de correction d'itinéraire de déplacement, dispositif d'évaluation de véhicule et dispositif de correction d'itinéraire de déplacement
DE102016222782A1 (de) * 2016-11-18 2018-05-24 Audi Ag Autonomes Steuern eines Kraftfahrzeugs anhand von Spurdaten; Kraftfahrzeug

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003093857A2 (fr) * 2002-05-03 2003-11-13 Donnelly Corporation Systeme de detection d'objets pour vehicule
US9399464B2 (en) * 2012-07-06 2016-07-26 Toyota Jidosha Kabushiki Kaisha Vehicle cruise control device
JP5977203B2 (ja) * 2012-12-21 2016-08-24 株式会社日本自動車部品総合研究所 車両制御装置
JP5783204B2 (ja) * 2013-05-01 2015-09-24 トヨタ自動車株式会社 運転支援装置および運転支援方法
JP6280850B2 (ja) 2014-09-29 2018-02-14 日立建機株式会社 障害物回避システム
WO2017047261A1 (fr) 2015-09-17 2017-03-23 日立オートモティブシステムズ株式会社 Dispositif de commande de changement de voie
JP6243942B2 (ja) * 2016-03-17 2017-12-06 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
JP2017182521A (ja) 2016-03-31 2017-10-05 日立オートモティブシステムズ株式会社 車両用走行制御装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150353085A1 (en) * 2014-06-05 2015-12-10 GM Global Technology Operations LLC Lane change path planning algorithm for autonomous driving vehicle
WO2016051460A1 (fr) * 2014-09-29 2016-04-07 日産自動車株式会社 Dispositif et procédé de commande de déplacement
US20180326981A1 (en) * 2014-09-29 2018-11-15 Nissan Motor Co., Ltd. Travel Control Device and Travel Control Method
WO2018066133A1 (fr) * 2016-10-07 2018-04-12 日産自動車株式会社 Procédé d'évaluation de véhicule, procédé de correction d'itinéraire de déplacement, dispositif d'évaluation de véhicule et dispositif de correction d'itinéraire de déplacement
EP3525192A1 (fr) * 2016-10-07 2019-08-14 Nissan Motor Co., Ltd. Procédé d'évaluation de véhicule, procédé de correction d'itinéraire de déplacement, dispositif d'évaluation de véhicule et dispositif de correction d'itinéraire de déplacement
DE102016222782A1 (de) * 2016-11-18 2018-05-24 Audi Ag Autonomes Steuern eines Kraftfahrzeugs anhand von Spurdaten; Kraftfahrzeug

Also Published As

Publication number Publication date
US11526173B2 (en) 2022-12-13
CN112533810A (zh) 2021-03-19
EP3831679B1 (fr) 2023-10-04
JPWO2020025991A1 (ja) 2021-09-24
RU2770714C1 (ru) 2022-04-21
WO2020025991A1 (fr) 2020-02-06
US20210349463A1 (en) 2021-11-11
EP3831679A1 (fr) 2021-06-09
CN112533810B (zh) 2024-08-27
JP7422661B2 (ja) 2024-01-26

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